<?xml version="1.0" encoding="UTF-8"?><PlexilPlan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:tr="extended-plexil-translator" FileName="TRAFFIC_RESOLUTION.ple"><GlobalDeclarations LineNo="2" ColNo="8"><StateDeclaration LineNo="2" ColNo="8"><Name>trafficConflict</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="3" ColNo="8"><Name>trafficSpeedConflict</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="4" ColNo="8"><Name>trafficAltConflict</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="5" ColNo="8"><Name>trafficTrackConflict</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="6" ColNo="8"><Name>nextWPFeasibility</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="7" ColNo="8"><Name>restartMission</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="8" ColNo="8"><Name>directPathToNextFeasibleWP</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="9" ColNo="5"><Name>preferredTrack</Name><Return><Name>_return_0</Name><Type>Real</Type></Return></StateDeclaration><StateDeclaration LineNo="10" ColNo="5"><Name>preferredSpeed</Name><Return><Name>_return_0</Name><Type>Real</Type></Return></StateDeclaration><StateDeclaration LineNo="11" ColNo="5"><Name>preferredAltitude</Name><Return><Name>_return_0</Name><Type>Real</Type></Return></StateDeclaration><StateDeclaration LineNo="12" ColNo="5"><Name>interceptHeading</Name><Return><Name>_return_0</Name><Type>Real</Type></Return></StateDeclaration><StateDeclaration LineNo="13" ColNo="8"><Name>velocity</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return></StateDeclaration><StateDeclaration LineNo="14" ColNo="8"><Name>position</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return></StateDeclaration><StateDeclaration LineNo="15" ColNo="8"><Name>resolutionType</Name><Return><Name>_return_0</Name><Type>Integer</Type></Return></StateDeclaration><CommandDeclaration LineNo="17" ColNo="11"><Name>CheckSafeToTurn</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return><Parameter><Name>fromHeading</Name><Type>Real</Type></Parameter><Parameter><Name>toHeading</Name><Type>Real</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="19" ColNo="0"><Name>SetVel</Name><Parameter><Name>velocity</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="20" ColNo="0"><Name>pprint</Name><AnyParameters/></CommandDeclaration></GlobalDeclarations><Node NodeType="NodeList" epx="Sequence" LineNo="24" ColNo="4"><NodeId>TRAFFIC_RESOLUTION</NodeId><Interface><In><DeclareVariable LineNo="24" ColNo="7"><Name>nextWP</Name><Type>Integer</Type></DeclareVariable></In><InOut><DeclareVariable LineNo="23" ColNo="10"><Name>completionStatus</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="25" ColNo="10"><Name>resSpeed</Name><Type>Real</Type></DeclareVariable></InOut></Interface><VariableDeclarations><DeclareArray LineNo="26" ColNo="4"><Name>acPosition</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareArray LineNo="27" ColNo="4"><Name>acVelocity</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareArray LineNo="29" ColNo="4"><Name>velCmd</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareArray LineNo="30" ColNo="4"><Name>prevSpeedResCmd</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareArray LineNo="31" ColNo="4"><Name>prevTrackResCmd</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareArray LineNo="32" ColNo="4"><Name>prevAltResCmd</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareVariable LineNo="33" ColNo="4"><Name>returnVel</Name><Type>Real</Type></DeclareVariable><DeclareVariable LineNo="34" ColNo="4"><Name>trackPref</Name><Type>Real</Type></DeclareVariable><DeclareVariable LineNo="35" ColNo="4"><Name>speedPref</Name><Type>Real</Type></DeclareVariable><DeclareVariable LineNo="36" ColNo="4"><Name>altPref</Name><Type>Real</Type></DeclareVariable><DeclareVariable LineNo="37" ColNo="4"><Name>returnSafe</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="38" ColNo="4"><Name>statusTF</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="39" ColNo="4"><Name>statusTF_Speed</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="40" ColNo="4"><Name>statusTF_Altitude</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="41" ColNo="4"><Name>statusTF_Track</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="42" ColNo="4"><Name>SpeedResolution</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="43" ColNo="4"><Name>AltResolution</Name><Type>Boolean</Type><InitialValue><BooleanValue>true</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="44" ColNo="4"><Name>TrackResolution</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="45" ColNo="4"><Name>dpNextWp</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="46" ColNo="4"><Name>reset</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="47" ColNo="4"><Name>resType</Name><Type>Integer</Type></DeclareVariable></VariableDeclarations><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__0</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__0</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__1</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__2</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__2</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__3</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__3</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__4</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__4</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__5</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__5</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__6</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__6</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__7</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__7</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__8</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__8</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__9</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__9</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__10</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__10</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__11</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__11</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">BLOCK__24</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">BLOCK__24</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__111</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__111</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="50" ColNo="4"><NodeId>ASSIGNMENT__0</NodeId><NodeBody><Assignment><ArrayVariable>acVelocity</ArrayVariable><ArrayRHS><LookupNow><Name><StringValue>velocity</StringValue></Name></LookupNow></ArrayRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="51" ColNo="4"><NodeId>ASSIGNMENT__1</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__0</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>resType</IntegerVariable><NumericRHS><LookupNow><Name><StringValue>resolutionType</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="53" ColNo="4"><NodeId>ASSIGNMENT__2</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__1</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevSpeedResCmd</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="54" ColNo="4"><NodeId>ASSIGNMENT__3</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__2</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevSpeedResCmd</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="55" ColNo="4"><NodeId>ASSIGNMENT__4</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__3</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevSpeedResCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="57" ColNo="4"><NodeId>ASSIGNMENT__5</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__4</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevTrackResCmd</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="58" ColNo="4"><NodeId>ASSIGNMENT__6</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__5</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevTrackResCmd</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="59" ColNo="4"><NodeId>ASSIGNMENT__7</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__6</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevTrackResCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="61" ColNo="4"><NodeId>ASSIGNMENT__8</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__7</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevAltResCmd</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="62" ColNo="4"><NodeId>ASSIGNMENT__9</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__8</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevAltResCmd</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="63" ColNo="4"><NodeId>ASSIGNMENT__10</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__9</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevAltResCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>-100000</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="65" ColNo="4"><NodeId>if__11</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__10</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><EQNumeric><IntegerVariable>resType</IntegerVariable><IntegerValue>0</IntegerValue></EQNumeric></PostCondition></Node><Node NodeType="NodeList" epx="Then" LineNo="66" ColNo="8"><NodeId>BLOCK__12</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__13</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__13</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__14</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__14</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__15</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__15</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="66" ColNo="8"><NodeId>ASSIGNMENT__13</NodeId><NodeBody><Assignment><BooleanVariable>SpeedResolution</BooleanVariable><BooleanRHS><BooleanValue>true</BooleanValue></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="67" ColNo="8"><NodeId>ASSIGNMENT__14</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__13</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>AltResolution</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="68" ColNo="8"><NodeId>ASSIGNMENT__15</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__14</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>TrackResolution</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Empty" epx="ElseIf"><NodeId>ep2cp_ElseIf-1</NodeId><StartCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></SkipCondition><PostCondition><EQNumeric><IntegerVariable>resType</IntegerVariable><IntegerValue>1</IntegerValue></EQNumeric></PostCondition></Node><Node NodeType="NodeList" epx="Then" LineNo="70" ColNo="8"><NodeId>BLOCK__16</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__17</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__17</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__18</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__18</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__19</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__19</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><NOT><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></NOT></SkipCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="70" ColNo="8"><NodeId>ASSIGNMENT__17</NodeId><NodeBody><Assignment><BooleanVariable>SpeedResolution</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="71" ColNo="8"><NodeId>ASSIGNMENT__18</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__17</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>AltResolution</BooleanVariable><BooleanRHS><BooleanValue>true</BooleanValue></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="72" ColNo="8"><NodeId>ASSIGNMENT__19</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__18</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>TrackResolution</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Empty" epx="ElseIf"><NodeId>ep2cp_ElseIf-2</NodeId><StartCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></StartCondition><SkipCondition><OR><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SKIPPED</NodeOutcomeValue></EQInternal><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></OR></SkipCondition><PostCondition><EQNumeric><IntegerVariable>resType</IntegerVariable><IntegerValue>2</IntegerValue></EQNumeric></PostCondition></Node><Node NodeType="NodeList" epx="Then" LineNo="74" ColNo="8"><NodeId>BLOCK__20</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__21</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__21</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__22</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef 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dir="child">ASSIGNMENT__26</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__27</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__27</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__28</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__28</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__29</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__29</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__30</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__30</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__31</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__31</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">SPEED</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">SPEED</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ALT</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ALT</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">TRACK</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">TRACK</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__94</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__94</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__105</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__105</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="84" ColNo="8"><NodeId>ASSIGNMENT__25</NodeId><NodeBody><Assignment><BooleanVariable>statusTF</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>trafficConflict</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="85" ColNo="8"><NodeId>ASSIGNMENT__26</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__25</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>statusTF_Speed</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>trafficSpeedConflict</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="86" ColNo="8"><NodeId>ASSIGNMENT__27</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__26</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>statusTF_Altitude</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>trafficAltConflict</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="87" ColNo="8"><NodeId>ASSIGNMENT__28</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__27</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>statusTF_Track</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>trafficTrackConflict</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="88" ColNo="8"><NodeId>ASSIGNMENT__29</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__28</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>dpNextWp</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>directPathToNextFeasibleWP</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="89" ColNo="8"><NodeId>ASSIGNMENT__30</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__29</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>reset</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>restartMission</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="91" ColNo="8"><NodeId>ASSIGNMENT__31</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__30</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayVariable>acPosition</ArrayVariable><ArrayRHS><LookupNow><Name><StringValue>position</StringValue></Name></LookupNow></ArrayRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="100" ColNo="11"><NodeId>SPEED</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__31</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__31</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><OR><NOT><BooleanVariable>statusTF_Speed</BooleanVariable></NOT><BooleanVariable>TrackResolution</BooleanVariable><BooleanVariable>AltResolution</BooleanVariable></OR></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__32</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__32</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__33</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__33</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__48</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__48</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="102" ColNo="11"><NodeId>ASSIGNMENT__32</NodeId><NodeBody><Assignment><RealVariable>speedPref</RealVariable><NumericRHS><LookupNow><Name><StringValue>preferredSpeed</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="106" ColNo="11"><NodeId>if__33</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__32</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><GE><RealVariable>speedPref</RealVariable><IntegerValue>0</IntegerValue></GE></PostCondition></Node><Node NodeType="NodeList" epx="Then" LineNo="107" ColNo="15"><NodeId>BLOCK__34</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__35</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__35</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__36</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__36</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__37</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__37</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__38</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__38</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__39</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__39</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__40</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__40</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__41</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__41</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__42</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__42</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="107" ColNo="15"><NodeId>ASSIGNMENT__35</NodeId><NodeBody><Assignment><ArrayElement><ArrayVariable>velCmd</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement><NumericRHS><ArrayElement><ArrayVariable>acVelocity</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="108" ColNo="15"><NodeId>ASSIGNMENT__36</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__35</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>velCmd</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement><NumericRHS><RealVariable>speedPref</RealVariable></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="109" ColNo="15"><NodeId>ASSIGNMENT__37</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__36</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>velCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>0</RealValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="110" ColNo="15"><NodeId>COMMAND__38</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__37</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>SetVel</StringValue></Name><Arguments LineNo="111" ColNo="22"><ArrayVariable>velCmd</ArrayVariable></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="112" ColNo="15"><NodeId>ASSIGNMENT__39</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__38</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevSpeedResCmd</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement><NumericRHS><ArrayElement><ArrayVariable>velCmd</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="113" ColNo="15"><NodeId>ASSIGNMENT__40</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__39</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevSpeedResCmd</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement><NumericRHS><ArrayElement><ArrayVariable>velCmd</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="114" ColNo="15"><NodeId>ASSIGNMENT__41</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__40</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevSpeedResCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement><NumericRHS><ArrayElement><ArrayVariable>velCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="115" ColNo="15"><NodeId>ASSIGNMENT__42</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__41</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>SpeedResolution</BooleanVariable><BooleanRHS><BooleanValue>true</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Empty" epx="ElseIf"><NodeId>ep2cp_ElseIf-1</NodeId><StartCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></SkipCondition><PostCondition><GT><RealVariable>speedPref</RealVariable><IntegerValue>-10000</IntegerValue></GT></PostCondition></Node><Node NodeType="NodeList" epx="Then" LineNo="117" ColNo="15"><NodeId>BLOCK__43</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__44</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__44</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__45</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__45</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><NOT><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></NOT></SkipCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="116" ColNo="15"><NodeId>COMMAND__44</NodeId><NodeBody><Command><Name><StringValue>SetVel</StringValue></Name><Arguments LineNo="117" ColNo="22"><ArrayVariable>prevSpeedResCmd</ArrayVariable></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="118" ColNo="15"><NodeId>ASSIGNMENT__45</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__44</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>SpeedResolution</BooleanVariable><BooleanRHS><BooleanValue>true</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Assignment" epx="Else" LineNo="121" ColNo="15"><NodeId>ASSIGNMENT__47</NodeId><StartCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></StartCondition><SkipCondition><OR><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SKIPPED</NodeOutcomeValue></EQInternal><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></OR></SkipCondition><NodeBody><Assignment><BooleanVariable>SpeedResolution</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Assignment" LineNo="125" ColNo="11"><NodeId>ASSIGNMENT__48</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__33</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>returnSafe</BooleanVariable><BooleanRHS><BooleanVariable>dpNextWp</BooleanVariable></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="130" ColNo="11"><NodeId>ALT</NodeId><VariableDeclarations><DeclareVariable LineNo="129" ColNo="11"><Name>climbRate</Name><Type>Real</Type><InitialValue><RealValue>0</RealValue></InitialValue></DeclareVariable><DeclareVariable LineNo="130" ColNo="11"><Name>diff</Name><Type>Real</Type></DeclareVariable></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">SPEED</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">SPEED</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><OR><NOT><BooleanVariable>statusTF_Altitude</BooleanVariable></NOT><BooleanVariable>TrackResolution</BooleanVariable><BooleanVariable>SpeedResolution</BooleanVariable></OR></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__49</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__49</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__50</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__50</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__51</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__51</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__52</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__52</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__53</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__53</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="134" ColNo="11"><NodeId>ASSIGNMENT__49</NodeId><NodeBody><Assignment><RealVariable>altPref</RealVariable><NumericRHS><LookupNow><Name><StringValue>preferredAltitude</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="135" ColNo="11"><NodeId>COMMAND__50</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__49</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="136" ColNo="18"><StringValue>preferred altitude:</StringValue><RealVariable>altPref</RealVariable></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="138" ColNo="11"><NodeId>ASSIGNMENT__51</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__50</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><RealVariable>diff</RealVariable><NumericRHS><SUB LineNo="138" ColNo="26"><RealVariable>altPref</RealVariable><ArrayElement><ArrayVariable>acPosition</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement></SUB></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="139" ColNo="11"><NodeId>COMMAND__52</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__51</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="140" ColNo="18"><StringValue>altitude diff:</StringValue><RealVariable>diff</RealVariable></Arguments></Command></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="141" ColNo="11"><NodeId>if__53</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__52</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><AND><GT><RealVariable>altPref</RealVariable><IntegerValue>0</IntegerValue></GT><LT><RealVariable>altPref</RealVariable><IntegerValue>10000</IntegerValue></LT></AND></PostCondition></Node><Node NodeType="NodeList" epx="Then" LineNo="143" ColNo="14"><NodeId>BLOCK__54</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__55</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__55</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__60</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__60</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__61</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__61</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__62</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__62</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__63</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__63</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__64</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__64</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__65</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__65</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__66</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__66</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__67</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__67</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__68</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__68</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__69</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__69</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__70</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__70</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><NodeList><Node NodeType="NodeList" epx="If" LineNo="143" ColNo="14"><NodeId>if__55</NodeId><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><GT><RealVariable>diff</RealVariable><IntegerValue>25</IntegerValue></GT></PostCondition></Node><Node NodeType="Assignment" epx="Then" LineNo="144" ColNo="19"><NodeId>ASSIGNMENT__57</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef 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dir="child">COMMAND__72</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__73</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__73</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__74</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__74</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__75</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__75</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><NOT><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></NOT></SkipCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="164" ColNo="14"><NodeId>COMMAND__72</NodeId><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="165" ColNo="21"><StringValue>Sending prev velocity</StringValue></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="166" ColNo="14"><NodeId>ASSIGNMENT__73</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef 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dir="child">ASSIGNMENT__78</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></StartCondition><SkipCondition><OR><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SKIPPED</NodeOutcomeValue></EQInternal><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_ElseIf-1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></OR></SkipCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="170" ColNo="14"><NodeId>ASSIGNMENT__77</NodeId><NodeBody><Assignment><BooleanVariable>AltResolution</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="171" ColNo="14"><NodeId>ASSIGNMENT__78</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__77</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevAltResCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement><NumericRHS><RealValue>0</RealValue></NumericRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="178" ColNo="12"><NodeId>TRACK</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ALT</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">ALT</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><OR><NOT><BooleanVariable>statusTF_Track</BooleanVariable></NOT><BooleanVariable>SpeedResolution</BooleanVariable><BooleanVariable>AltResolution</BooleanVariable></OR></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__79</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__79</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__80</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__80</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="181" ColNo="12"><NodeId>ASSIGNMENT__79</NodeId><NodeBody><Assignment><RealVariable>trackPref</RealVariable><NumericRHS><LookupNow><Name><StringValue>preferredTrack</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="185" ColNo="12"><NodeId>if__80</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__79</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><GE><RealVariable>trackPref</RealVariable><IntegerValue>0</IntegerValue></GE></PostCondition></Node><Node NodeType="NodeList" epx="Then" LineNo="186" ColNo="16"><NodeId>BLOCK__81</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef 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dir="child">COMMAND__85</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__85</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__86</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__86</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__87</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__87</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__88</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__88</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__89</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__89</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef 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dir="sibling">ASSIGNMENT__87</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayElement><ArrayVariable>prevTrackResCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement><NumericRHS><ArrayElement><ArrayVariable>velCmd</ArrayVariable><Index><IntegerValue>2</IntegerValue></Index></ArrayElement></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="193" ColNo="16"><NodeId>ASSIGNMENT__89</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__88</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>TrackResolution</BooleanVariable><BooleanRHS><BooleanValue>true</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Empty" 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